Biomedical Engineering Reference
In-Depth Information
(a)
(b)
FIGURE 5.7
Actual experimental observation on the deformation of adaptive optical lens
under electrical control. (From Salehpoor, M. et al. 1996. In
Proceedings of the SPIE con-
ference on intelligent structures and materials,
2716:36-45.)
Curved gel
Stationary glass
Screen
FIGURE 5.8
Experimental setup for measuring the focal length of the gel lens.
The setup for measuring the gel focal length is shown in figure 5.8.
5.5
ELECTROACTIVE PAMPS GEL ROBOTIC
STRUCTURES
As discussed before, the first use of electrically controllable ionic polymeric gel
actuators and artificial muscles was in connection with swimming robotic structures
and was reported by Shahinpoor (1991, 1992, 1993a) and Shahinpoor and Mojarrad
(1996). Figure 5.9 depicts such concepts. On the other hand, Mihoko Otake should
be given credit for making a starfish robot from electroactive PAMPS. These results
can be found in her University of Tokyo doctoral dissertation and subsequent trail
of papers from her. Her dissertation studies the modeling, design, and control of
deformable machines consisting of actively deformable materials, which are referred
to as artificial muscles. The main focus is to propose methods for deriving a variety
